<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
<html xmlns="http://www.w3.org/1999/xhtml">
<head>
<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
<meta http-equiv="X-UA-Compatible" content="IE=9"/>
<meta name="generator" content="Doxygen 1.8.11"/>
<title>robot_interfaces: robot_interfaces::NJointRobotTypes&lt; N &gt; Struct Template Reference</title>
<link href="tabs.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="jquery.js"></script>
<script type="text/javascript" src="dynsections.js"></script>
<link href="navtree.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="resize.js"></script>
<script type="text/javascript" src="navtreedata.js"></script>
<script type="text/javascript" src="navtree.js"></script>
<script type="text/javascript">
  $(document).ready(initResizable);
  $(window).load(resizeHeight);
</script>
<link href="search/search.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="search/searchdata.js"></script>
<script type="text/javascript" src="search/search.js"></script>
<script type="text/javascript">
  $(document).ready(function() { init_search(); });
</script>
<link href="doxygen.css" rel="stylesheet" type="text/css" />
</head>
<body>
<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
<div id="titlearea">
<table cellspacing="0" cellpadding="0">
 <tbody>
 <tr style="height: 56px;">
  <td id="projectalign" style="padding-left: 0.5em;">
   <div id="projectname">robot_interfaces
   </div>
  </td>
 </tr>
 </tbody>
</table>
</div>
<!-- end header part -->
<!-- Generated by Doxygen 1.8.11 -->
<script type="text/javascript">
var searchBox = new SearchBox("searchBox", "search",false,'Search');
</script>
  <div id="navrow1" class="tabs">
    <ul class="tablist">
      <li><a href="index.html"><span>Main&#160;Page</span></a></li>
      <li><a href="pages.html"><span>Related&#160;Pages</span></a></li>
      <li class="current"><a href="annotated.html"><span>Classes</span></a></li>
      <li><a href="files.html"><span>Files</span></a></li>
      <li>
        <div id="MSearchBox" class="MSearchBoxInactive">
        <span class="left">
          <img id="MSearchSelect" src="search/mag_sel.png"
               onmouseover="return searchBox.OnSearchSelectShow()"
               onmouseout="return searchBox.OnSearchSelectHide()"
               alt=""/>
          <input type="text" id="MSearchField" value="Search" accesskey="S"
               onfocus="searchBox.OnSearchFieldFocus(true)" 
               onblur="searchBox.OnSearchFieldFocus(false)" 
               onkeyup="searchBox.OnSearchFieldChange(event)"/>
          </span><span class="right">
            <a id="MSearchClose" href="javascript:searchBox.CloseResultsWindow()"><img id="MSearchCloseImg" border="0" src="search/close.png" alt=""/></a>
          </span>
        </div>
      </li>
    </ul>
  </div>
  <div id="navrow2" class="tabs2">
    <ul class="tablist">
      <li><a href="annotated.html"><span>Class&#160;List</span></a></li>
      <li><a href="classes.html"><span>Class&#160;Index</span></a></li>
      <li><a href="inherits.html"><span>Class&#160;Hierarchy</span></a></li>
      <li><a href="functions.html"><span>Class&#160;Members</span></a></li>
    </ul>
  </div>
</div><!-- top -->
<div id="side-nav" class="ui-resizable side-nav-resizable">
  <div id="nav-tree">
    <div id="nav-tree-contents">
      <div id="nav-sync" class="sync"></div>
    </div>
  </div>
  <div id="splitbar" style="-moz-user-select:none;" 
       class="ui-resizable-handle">
  </div>
</div>
<script type="text/javascript">
$(document).ready(function(){initNavTree('structrobot__interfaces_1_1NJointRobotTypes.html','');});
</script>
<div id="doc-content">
<!-- window showing the filter options -->
<div id="MSearchSelectWindow"
     onmouseover="return searchBox.OnSearchSelectShow()"
     onmouseout="return searchBox.OnSearchSelectHide()"
     onkeydown="return searchBox.OnSearchSelectKey(event)">
</div>

<!-- iframe showing the search results (closed by default) -->
<div id="MSearchResultsWindow">
<iframe src="javascript:void(0)" frameborder="0" 
        name="MSearchResults" id="MSearchResults">
</iframe>
</div>

<div class="header">
  <div class="summary">
<a href="#nested-classes">Classes</a> &#124;
<a href="#pub-types">Public Types</a> &#124;
<a href="structrobot__interfaces_1_1NJointRobotTypes-members.html">List of all members</a>  </div>
  <div class="headertitle">
<div class="title">robot_interfaces::NJointRobotTypes&lt; N &gt; Struct Template Reference</div>  </div>
</div><!--header-->
<div class="contents">

<p>Collection of types for a generic N-joint BLMC robot.  
 <a href="structrobot__interfaces_1_1NJointRobotTypes.html#details">More...</a></p>

<p><code>#include &lt;<a class="el" href="n__joint__robot__types_8hpp_source.html">n_joint_robot_types.hpp</a>&gt;</code></p>
<table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="nested-classes"></a>
Classes</h2></td></tr>
<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">struct &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structrobot__interfaces_1_1NJointRobotTypes_1_1Action.html">Action</a></td></tr>
<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">struct &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structrobot__interfaces_1_1NJointRobotTypes_1_1Observation.html">Observation</a></td></tr>
<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-types"></a>
Public Types</h2></td></tr>
<tr class="memitem:a2c8ab754133625e175456e0f81753eb3"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a2c8ab754133625e175456e0f81753eb3"></a>
typedef Eigen::Matrix&lt; double, N, 1 &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>Vector</b></td></tr>
<tr class="separator:a2c8ab754133625e175456e0f81753eb3"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aee4f8ae91b6d7b31852c4e5ad82635ca"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="aee4f8ae91b6d7b31852c4e5ad82635ca"></a>
typedef <a class="el" href="classrobot__interfaces_1_1RobotBackend.html">RobotBackend</a>&lt; <a class="el" href="structrobot__interfaces_1_1NJointRobotTypes_1_1Action.html">Action</a>, <a class="el" href="structrobot__interfaces_1_1NJointRobotTypes_1_1Observation.html">Observation</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>Backend</b></td></tr>
<tr class="separator:aee4f8ae91b6d7b31852c4e5ad82635ca"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:af7a865b80531a7b8e36368ad8bd8ce7e"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="af7a865b80531a7b8e36368ad8bd8ce7e"></a>
typedef std::shared_ptr&lt; <a class="el" href="classrobot__interfaces_1_1RobotBackend.html">Backend</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>BackendPtr</b></td></tr>
<tr class="separator:af7a865b80531a7b8e36368ad8bd8ce7e"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a1c8c77cdee8351da515f8c487fb538ff"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a1c8c77cdee8351da515f8c487fb538ff"></a>
typedef <a class="el" href="structrobot__interfaces_1_1RobotBackend_1_1Status.html">Backend::Status</a>&#160;</td><td class="memItemRight" valign="bottom"><b>Status</b></td></tr>
<tr class="separator:a1c8c77cdee8351da515f8c487fb538ff"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ac8bfc88d9343d3725d80ae5cde63812c"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ac8bfc88d9343d3725d80ae5cde63812c"></a>
typedef <a class="el" href="classrobot__interfaces_1_1RobotData.html">RobotData</a>&lt; <a class="el" href="structrobot__interfaces_1_1NJointRobotTypes_1_1Action.html">Action</a>, <a class="el" href="structrobot__interfaces_1_1NJointRobotTypes_1_1Observation.html">Observation</a>, <a class="el" href="structrobot__interfaces_1_1RobotBackend_1_1Status.html">Status</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>Data</b></td></tr>
<tr class="separator:ac8bfc88d9343d3725d80ae5cde63812c"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:abd134c8d18299d6ddfef396c97a04e9d"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="abd134c8d18299d6ddfef396c97a04e9d"></a>
typedef std::shared_ptr&lt; <a class="el" href="classrobot__interfaces_1_1RobotData.html">Data</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>DataPtr</b></td></tr>
<tr class="separator:abd134c8d18299d6ddfef396c97a04e9d"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:acfa2fab5ec37d832d80c9147e28903ec"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="acfa2fab5ec37d832d80c9147e28903ec"></a>
typedef <a class="el" href="classrobot__interfaces_1_1RobotFrontend.html">RobotFrontend</a>&lt; <a class="el" href="structrobot__interfaces_1_1NJointRobotTypes_1_1Action.html">Action</a>, <a class="el" href="structrobot__interfaces_1_1NJointRobotTypes_1_1Observation.html">Observation</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>Frontend</b></td></tr>
<tr class="separator:acfa2fab5ec37d832d80c9147e28903ec"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ab97eb0bbf6e63868dd1c215249742b04"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ab97eb0bbf6e63868dd1c215249742b04"></a>
typedef std::shared_ptr&lt; <a class="el" href="classrobot__interfaces_1_1RobotFrontend.html">Frontend</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>FrontendPtr</b></td></tr>
<tr class="separator:ab97eb0bbf6e63868dd1c215249742b04"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table>
<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
<div class="textblock"><h3>template&lt;size_t N&gt;<br />
struct robot_interfaces::NJointRobotTypes&lt; N &gt;</h3>

<p>Collection of types for a generic N-joint BLMC robot. </p>
<p>Defines all the types needed to set up an interface to a generic N-joint BLMC robot that expects as <a class="el" href="structrobot__interfaces_1_1NJointRobotTypes_1_1Action.html">Action</a> a simple vector of N torque commands and provides N observations containing measured joint angle, velocity and torque.</p>
<dl class="tparams"><dt>Template Parameters</dt><dd>
  <table class="tparams">
    <tr><td class="paramname">N</td><td>Number of joints </td></tr>
  </table>
  </dd>
</dl>
</div><hr/>The documentation for this struct was generated from the following file:<ul>
<li>/workspace/software/workspace/src/catkin/robots/robot_interfaces/include/robot_interfaces/<a class="el" href="n__joint__robot__types_8hpp_source.html">n_joint_robot_types.hpp</a></li>
</ul>
</div><!-- contents -->
</div><!-- doc-content -->
<!-- start footer part -->
<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
  <ul>
    <li class="navelem"><b>robot_interfaces</b></li><li class="navelem"><a class="el" href="structrobot__interfaces_1_1NJointRobotTypes.html">NJointRobotTypes</a></li>
    <li class="footer">Generated by
    <a href="http://www.doxygen.org/index.html">
    <img class="footer" src="doxygen.png" alt="doxygen"/></a> 1.8.11 </li>
  </ul>
</div>
</body>
</html>
